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Appendix D

HA0142T Rev 12 February 2011

GetStageAxisInfo_MinPos

Gets the stage minimum position (returned by
value).

GetStatusBits_Bits Gets

the

controller status bits encoded in 32 bit

integer (returned by value).

GetVelParamLimits Gets

the

maximum

velocity profile parameter limits.

GetVelParams

Gets the velocity profile parameters.

GetVelParams_Accn Gets

the

move

acceleration (returned by value).

GetVelParams_MaxVel

Gets the move maximum velocity (returned by
value).

Identify

Identifies the controller by flashing unit LEDs.

LLGetStatusBits Gets

the

controller status bits encoded in 32 bit

integer.

LLSetGetPIDParams

Sets or Gets the servo control loop PID parameters
(DC servo controllers).

LoadParamSet Loads

stored

settings for specific controller.

MoveAbsolute

Initiates an absolute move.

MoveAbsoluteEnc Initiates an absolute move with specified positions

for encoder equipped stages.

MoveAbsoluteEx Initiates

absoloute move with specified positions.

MoveAbsoluteRot Initiates an absolute move with specified positions

for rotary stages.

MoveHome

Initiates a homing sequence.

MoveJog

Initiates a jog move.

MoveRelative Initiates a relative move.
MoveRelativeEnc Initiates

relative

move with specified distances for

encoder equipped stages.

MoveRelativeEx

Initiates a relative move with specified distances.

MoveVelocity

Initiates a move at constant velocity with no end
point.

SaveParamSet

Saves settings for a specific controller.

SetAbsMovePos

Sets the absolute move position.

SetBLashDist

Sets the backlash distance.

SetButtonParams

Sets the front panel button settings (Cube drivers).

SetDispMode

Sets the GUI display mode.

SetHomeParams Sets

the

homing sequence parameters.

SetHWLimSwitches

Sets the limit switch configuration settings.

SetIndicatorLEDMode Sets the front panel indication LED operating modes

(Cube drivers).

Summary of Contents for TDC001

Page 1: ...TDC001 DC Servo Motor Driver User Guide ...

Page 2: ...tion 13 3 2 1 Environmental Conditions 13 3 2 2 Mounting Options 13 3 2 3 Removing the Baseplate 14 3 3 Electrical Installation 15 3 3 1 Connecting a Motor 15 3 3 2 Using The TCH002 Controller Hub 15 3 3 3 Connecting To A Standalone Power Supply 16 3 4 Connect The Hardware 16 3 5 Select the Stage Type using APTConfig 17 3 6 Verifying Software Operation 19 3 6 1 Initial Setup 19 Chapter 4 Standalon...

Page 3: ...ing a Simulated Configuration 34 5 10 Stage Axis Tab 37 Chapter 6 Software Reference 38 6 1 Introduction 38 6 2 GUI Panel 38 6 3 Settings Panel 40 6 3 1 Moves Jogs Tab 40 6 3 2 Stage Axis Tab 43 6 3 3 Advanced Tab 46 Appendices Appendix A Rear Panel Connector Pinout Detail 50 Appendix B Preventive Maintenance 51 Appendix C Specifications and Associated Products 52 Appendix D Motor Control Method S...

Page 4: ...n when there is a risk of injury from electrical shock Warning Given when there is a risk of injury to users Caution Given when there is a risk of damage to the product Note Clarification of an instruction or additional information Warnings If this equipment is used in a manner not specified by the manufacturer the protection provided by the equipment may be impaired In particular excessive moistu...

Page 5: ... Although compact in footprint this unit offers a fully featured motion control capability including velocity profile settings limit switch handling on the fly changes in motor speed and direction control over the closed loop PID parameters and for more advanced operation adjustment of settings such as lead screw pitch and gearbox ratio allowing support for many different actuator configurations F...

Page 6: ...ed via short power leads A single way wall plug supply TPS001 is also available for powering a single T Cube Driver In the remainder of this handbook operation of the unit is described for both front panel and PC operation Tutorial sections Chapter 4 and Chapter 5 provide a good initial understanding on using the unit and reference section Chapter 6 covers all operating modes and parameters in det...

Page 7: ... server which provides all of the necessary APT system software services such as generation of GUI panels communications handling for multiple USB units and logging of all system activity to assist in hardware trouble shooting It is this APT server engine that is used by software developers to allow the creation of advanced automated positioning applications very rapidly and with great ease The AP...

Page 8: ...d loaded to allow multiple operating configurations to be created and easily applied For many users the APTUser application provides all of the functionality necessary to operate the APT hardware without the need to develop any further custom software For those who do need to further customize and automate usage of the T Cube DC Driver e g to implement a positioning algorithm this application illu...

Page 9: ...s have global effect such as switching between simulator and real operating mode associating mechanical stages to specific motor actuators and incorporation of calibration data The APTConfig utility is provided as a convenient means for making these system wide settings and adjustments Full details on using APTConfig are provided in the online help supplied with the utility Use of the APT Config u...

Page 10: ...into a wide range of software development environments for use by client application developers Development environments supported include Visual Basic Labview Visual C C Builder HPVEE Matlab VB NET C NET and via VBA Microsoft Office applications such as Excel and Word Consider the ActiveX Control supplied for the APT OptoDC servo driver unit This Control provides a complete user graphical instrum...

Page 11: ...tem Architecture Diagram Refer to the main APT Software online help file APTBase hlp for a complete programmers guide and reference material on using the APT ActiveX Controls collection This is available either by pressing the F1 key when running the APT server or via the Start menu Start Programs Thorlabs APT APT Help Additional software developer support is provided by the APT Support CD supplie...

Page 12: ...e When operating via a PC direct user interaction with the DC servo driver is accomplished through intuitive graphical user interface panels GUIs which expose all key operating parameters and modes The user can select multiple panel views displaying different information about a particular hardware unit The multitasking architecture ensures that the graphical control panels always remain live show...

Page 13: ...Driver is shipped with a baseplate fitted ready to be bolted to a breadboard optical table or similar surface If desired the baseplate can be removed and the unit can be stood on rubber feet see Section 3 2 3 For multiple cube systems a USB controller hub TCH002 is available see Section 2 2 for further details Full instructions on the fitting and use of the controller hub are contained in handbook...

Page 14: ...ing the unit to the baseplate Retain the bolts for future use if the baseplate is refitted 6 Invert the unit 7 Remove the backing paper from the rubber feet supplied taking care not to touch the exposed adhesive surface 8 Position the feet as desired then press and hold for a few seconds until the adhesive has bonded 9 The unit may now be used freestanding sitting on its rubber feet Detail A Detai...

Page 15: ... TCH002 Controller Hub The TCH002 USB Controller Hub provides power distribution for up to six T Cubes and requires only a single power connection from a separate supply unit TPS006 supplied by Thorlabs Further details are contained in handbook ha0146T T Cube Controller Hub supplied with the unit Warning DO NOT PLUG A POWERED UP T CUBE INTO THE TCH002 USB CONTROLLER HUB Always ensure that all powe...

Page 16: ...s of 3 metres can be achieved by using a powered USB hub Shock Warning The unit must be connected only to a DC supply of 15V 1A regulated Connection to a supply of a different rating may cause damage to the unit and could result in injury to the operator Caution During items 3 to 6 the instructions should be followed strictly in the order stated Problems may occur if the process is not performed i...

Page 17: ...correctly it is possible using the APT Config utility to associate a specific stage type and axis with the motor controller Once this association has been made the APT server applies automatically suitable default parameter values on boot up of the software 1 Shut down all applications using the APT software components e g APT User or your own custom application 2 Run the APT Config utility Start ...

Page 18: ...the side of the unit 5 In the Stage field select your actuator type from the list displayed e g Z612 actuator 6 Click the Add Change Stage Association button The actuator type and serial number are added to the list in the main window as shown above 7 The server reads in the stage and controller information on start up Shut down the APTConfig utility and proceed to Section 3 6 to verify the softwa...

Page 19: ...or axis connected to the DC Driver T Cube moves The position display for the associated GUI should increment and decrement accordingly Follow the tutorial steps described in Chapter 4 for further verification of operation Note The APT Config utility can be used to set up simulated hardware configurations and place the APT Server into simulator mode In this way it is possible to create any number a...

Page 20: ...ny different actuator configurations These parameters can be set via the APT Server software see Chapter 5 Furthermore many of these parameters are automatically set to allow out of the box operation with no further tuning required The following brief overview explains how the front panel controls can be used to perform a typical series of motor moves It is assumed that the unit has already been i...

Page 21: ... limit switch or when the Ident button is pressed in the GUI panel It can also be configured to be lit when the motor is moving see Section 6 3 3 for further details POWER LED Lit when power is applied to the unit 4 3 Potentiometer Operation The potentiometer slider is sprung such that when released it returns to it s central position In this central position the motor is stationary As the slider ...

Page 22: ...ress and hold the required button for 2 seconds When the button has been programmed the Active LED on the unit will flash five times Typically you would use the pot to move the motor to the required position and then teach the button by pressing and holding it The move can be stopped at any time by pressing either of the move buttons This mode of operation is enabled by setting the Button Mode par...

Page 23: ...2 Using the APT User Utility The APT User exe application allows the user to interact with any number of APT hardware control units connected to the PC USB Bus or simulated via the APTConfig utility This program allows multiple graphical instrument panels to be displayed so that multiple APT units can be controlled All basic operating parameters can be set through this program and all basic operat...

Page 24: ...3 5 is displayed in the Settings window See Section 5 10 and Section 6 3 for further details on the parameter values shown in the Settings display Fig 5 2 DC Driver T CubeSoftware GUI The APT User utility will be used throughout the rest of this tutorial to interface with the DC servo motor controller ...

Page 25: ...to indicate that homing is in progress and the displayed position for both channels counts down to 000 000 i e the home position Note Homing can also be performed by holding down both front panel buttons for around 2 seconds Note After homing shaft relaxation may cause a small position offset to be displayed This relates only to one or two encoder counts and is not significant in terms of real wor...

Page 26: ...e measured in real world units e g millimetres relative to the Home position 1 Click the position display Fig 5 4 Absolute Position Popup Window 2 Enter 3 0 into the pop up window 3 Click OK Notice that the position display counts up to 003 000 to indicate a move to the absolute position 3 00mm ...

Page 27: ... Settings button bottom right hand corner of the display to show the Settings panel Fig 5 5 Settings Panel Move Jogs Tab 2 Select the Move Jogs tab as shown in Fig 5 5 3 In the Moves field enter parameter values as follows Max Vel 0 25 Accn Dec 0 1 4 Click OK to save the settings and close the window 5 Any further moves initiated will now be performed at a maximum velocity of 0 25mm per second wit...

Page 28: ...he jog velocity while the button is held down 1 On the GUI panel click the Settings button to display the Settings panel Fig 5 6 Settings Panel Move Jogs Tab 2 Select the Move Jogs tab as shown in Fig 5 6 3 In the Jogs field enter parameter values as follows Velocity Profile Max Vel 0 25 Accn Dec 0 1 Operating Modes Jogging Single Step Stopping Profiled Step Distance 0 1 4 Click OK to save the set...

Page 29: ...its per grid division and cursor position All units are displayed in real world units either millimetres or degrees The left hand display shows a circle which represents the current position of the motor associated with the specified controller absolute position data is displayed in the Chan Pos field The vertical divisions relate to the travel of the stage actuator associated with the DC Driver T...

Page 30: ...lick the left hand mouse button to initiate the move Jog Mode When Jogging mode is selected the motors are jogged each time the left mouse button is clicked The Jog direction corresponds to the position of the cursor relative to the circle current motor position e g if the cursor is to the left of the circle the motor will jog left The Jog Step size is that selected in the Settings panel see Secti...

Page 31: ...sited without user intervention For details on moving to absolute positions initiated by a mouse click see Section 5 7 1 From the Motor GUI Panel select Move Sequencer tab to display the Move Sequencer window Fig 5 8 Move Sequencer Window 2 Right click in the move data field to display the pop up menu Fig 5 9 Move Sequencer Pop Up Menu ...

Page 32: ...ve in the sequence The Dwell time is the time to wait in milliseconds Return if checked the system will move to the position specified in the Dist Pos field wait for the specified Dwell time and then return to the original position 4 Min Vel Acc and Max Vel the velocity profile parameters for the move The motor accelerates at the rate set in the Acc field up to the speed set in the Max Vel field A...

Page 33: ...e data line s and selecting the appropriate option in the pop up menu shown below Fig 5 12 Pop Up Options 7 To run a single line of data right click the appropriate data and select Run from the pop up menu shown above 8 To run the entire sequence click the Run button shown below A Home move can also be performed from this panel by clicking the Home button Fig 5 13 Home and Run Buttons 9 To save da...

Page 34: ...id learning how to use the APT software and as an aid to developing custom software applications offline Any number of virtual control units can be combined to emulate a colection of physical hardware units For example an application program can be written then tested and debugged remotely before running with the hardware To create a simulated configuration proceed as follows 1 Run the APT Config ...

Page 35: ...4 In the Simulator field check the Enable Simulator Mode box The name of the most recently used configuration file is displayed in the Current Configuration window 5 In the Control Unit field select 1 Ch DC Driver T Cube TDC001 ...

Page 36: ...te Each physical APT hardware unit is factory programmed with a unique 8 digit serial number In order to simulate a set of real hardware the Config utility allows an 8 digit serial number to be associated with each simulated unit It is good practice when creating simulated configurations for software development purposes to use the same serial numbers as any real hardware units that will be used A...

Page 37: ...e Z612 series actuator was selected using the APTConfig utility in Section 3 5 The APT server automatically applied suitable defaults for the parameters on this tab during boot up of any client software such as APTUser These parameters should not be altered for pre defined Thorlabs stages and actuators selected using APT Config as it may adversely affect the performance of the stage For third part...

Page 38: ...User utility Fig 6 1 DC Driver T Cube Software GUI Jog used to increment or decrement the motor position When the button is clicked the motor is driven in the selected direction at the jog velocity one step per click The step size and jog velocity parameters are set in the Settings panel see Section 6 3 Note The serial number of the DC Driver T Cube associated with the GUI panel the APT server ver...

Page 39: ...particular stage Calib File the calibration file associated with the specified channel See the APTConfig utility helpfile for more details on assigning and using calibration files Min Max V the minimum velocity at which a move is initiated and the maximum velocity at which the move is performed Values are displayed in real world units mm s or degrees s and can be set via the Settings panel see Sec...

Page 40: ...ove Jog Settings Moves Velocity Profile Moves can be initiated via the GUI panel either by using the jog buttons see Section 5 6 or by entering a position value after clicking on the position display box see Section 5 4 The following settings determine the velocity profile of such moves and are specified in real world units millimetres or degrees MaxVel the maximum velocity at which to perform a m...

Page 41: ... or GUI panel button clicked There are two jogging modes available Single Step and Continuous In Single Step mode the motor moves by the step size specified in the Step Distance parameter If the jog key is held down single step jogging is repeated until the button is released see Fig 6 3 In Continuous mode the motor actuator will accelerate and move at the jog velocity while the button is held dow...

Page 42: ...rees To remove backlash correction this value should be set to zero Persist Settings to Hardware Many of the parameters that can be set for the DC Driver T Cube can be stored persisted within the unit itself such that when the unit is next powered up these settings are applied automatically This is particularly important when the driver is being used manually in the absence of a PC and USB link Th...

Page 43: ...apply suitable defaults for the parameters on this tab during boot up of the software These parameters should not be altered for pre defined Thorlabs stages selected using APT Config as it may adversely affect the performance of the stage For third party stage types not available using the APT Config utility the stage details must be entered manually Individual parameters are described in the foll...

Page 44: ...The hardware limit switch associated with the home position either Forward HW or Reverse HW Zero Offset the distance offset in mm or degrees from the limit switch to the Home position Velocity the maximum velocity at which the motors move when Homing For further information on the home position see Section E 2 2 Hardware Limit Switches The operation of the limit switches is inherent in the design ...

Page 45: ...r is applicable only to motors fitted with a gearbox Note The Steps Per Rev and Gearbox Ratio parameters together with the Pitch and Units parameters are used to calculate the calibration factor for use when converting real world units to encoder counts The Z600 series of DC servo motors have an encoder with 48 counts per rev and a 256 1 reduction gearbox In this case the Steps Per Rev and Gearbox...

Page 46: ...o Hardware checkbox before clicking the OK button 6 3 3 Advanced Tab Fig 6 5 DC Driver T Cube Advanced Settings Indicator LED Modes The Active and Power LEDs fitted to the front panel of the unit can be configured to indicate certain driver states as follows Limit Switch Activation When this option is selected the Active LED will flash when the motor reaches a forward or reverse limit switch Ident...

Page 47: ... function of slider deflection These speed settings can be altered via the Potentiometer Control Settings parameters There are 4 pairs of parameters each pair specifies a pot deflection value in the range 0 to 127 together with an associated velocity set in real world units mm or degrees to apply at or beyond that deflection As each successive deflection is reached by moving the pot slider the nex...

Page 48: ...used by the integral term However the differential term also slows down system response It accepts values in the range 0 to 32767 Integral Limit This term sets a maximum limit for the integration term to prevent an excessive build up over time of the restoring force It accepts values in the range 0 to 32767 Button Control Settings The buttons on the front of the unit can be used either to jog the ...

Page 49: ...n and LED parameters described above are good examples of settings that can be altered and then persisted in the driver for use in absence of a PC To save the settings to hardware check the Persist Settings to Hardware checkbox before clicking the OK button Note The following parameters are applicable only if Go to Position is selected in the Button Mode field Note A Home move can be performed by ...

Page 50: ...n Identification A 15 Pin DIN to 10 Pin IDC converter Z600 TCAB1 is available for use with Thorlabs legacy DC Servo Motors Pin Description Pin Description 1 Ground 9 Not Connected 2 Forward Limit Switch 10 5V Encoder Supply 3 Reverse Limit Switch 11 Encoder Channel A 4 Not Connected 12 Not Connected 5 Motor 13 Encoder Channel B 6 Not Connected 14 Not Connected 7 Motor 15 Not Connected 8 Not Connec...

Page 51: ...rvicable parts There is a risk of electrical shock if the equipment is operated with the covers removed Only personnel authorized by Thorlabs Ltd and trained in the maintenance of this equipment should remove its covers or attempt any repairs or adjustments Maintenance is limited to safety testing and cleaning as described in the following sections Warning Disconnect the power supply before cleani...

Page 52: ... Position Counter 32 bit Operating Modes Position Velocity Velocity Profile Trapezoidal Motor Drive Connector 15 Way D Type Motor Drive Outputs ve ve Quadrature Encoder QEP Input Single Ended Limit Switch Inputs Forward Reverse Common Return Encoder Supply 5V Front Panel Controls Sprung Potentiometer Slider 4 Speed Bidirectional Velocity Control Dual Buttons Forward Reverse Jogging or Position Pre...

Page 53: ...vo Motor Actuator 1 4 80 Vaccuum Rated Z606V 12mm DC Servo Motor Actuator 1 4 80 Z612 12mm DC Servo Motor Actuator 3 8 Barrel Attachment Z612B 12mm DC Servo Motor Actuator 1 4 80 Vaccuum Rated Z612V 12mm DC Servo Motor Actuator Vaccuum Rated 3 8 Barrel Attachment Z612BV 25mm DC Servo Motor Actuator 3 8 Barrel Attachment Z625B 25mm DC Servo Motor Actuator Vaccuum Rated 3 8 Barrel Attachment Z625BV ...

Page 54: ...ntrol can be used to perform activities such as homing stages absolute and relative moves and changing velocity profile settings A brief summary of each method and property is given below for more detailed information and individual parameter descriptiond please see the on line help file supplied with the APT server Methods DeleteParamSet Deletes stored settings for specific controller DisableHWCh...

Page 55: ...v Gets the servo control loop derivative parameter DC servo controllers returned by value GetPIDParams_Int Gets the servo control loop integration parameter DC servo controllers returned by value GetPIDParams_Prop Gets the servo control loop proportional parameter DC servo controllers returned by value GetPosition Gets the current motor position GetPosition_Position Gets the current motor position...

Page 56: ...iates an absolute move with specified positions for encoder equipped stages MoveAbsoluteEx Initiates an absoloute move with specified positions MoveAbsoluteRot Initiates an absolute move with specified positions for rotary stages MoveHome Initiates a homing sequence MoveJog Initiates a jog move MoveRelative Initiates a relative move MoveRelativeEnc Initiates a relative move with specified distance...

Page 57: ...rameters ShowSettingsDlg Display the GUI Settings panel StartCtrl Starts the ActiveX Control starts communication with controller StopCtrl Stops the ActiveX Control stops communication with controller StopImmediate Stops a motor move immediately StopProfiled Stops a motor move in a profiled decelleration manner Properties APTHelp Specifies the help file that will be accessed when the user presses ...

Page 58: ... that are connected to the voltage source The brushes are located on the end of the coil wires and make a temporary electrical connection with the DC supply When current is flowing a magnetic field is set up as shown At 0 rotation the brushes are in contact with the voltage source and current is flowing The current that flows through the wire from A to B interacts with the magnetic field and produ...

Page 59: ...or a positive move takes the platform of the stage further away from the motor In a rotational stage a positive move turns the platform clockwise when viewed from above E 1 3 Velocity Profiles To prevent the motor from stalling it must be ramped up gradually to its maximum velocity Certain limits to velocity and acceleration result from the torque and speed limits of the motor and the inertia and ...

Page 60: ...ounters are reset to zero thereby establishing a fixed datum that can be found even after the system has been switched off See Section 5 3 for details on performing a Home move E 2 3 Limit Switches A linear stage moves between two stops and movement outside these limits is physically impossible Linear stages can include stages that control the angle of a platform within a certain range although th...

Page 61: ...e Home and Minimum positions then coincide with movement always occurring on the positive side of the Home position Rotary stages have effectively no limits of travel The Minimum and Maximum positions are conventionally set to 0 and 360 degrees respectively When the position of a rotary stage is requested the answer will be reported as a number between 0 and 360 degrees measured in the positive di...

Page 62: ... from 10 to 20 mm is carried out as one simple move whereas a negative move from 20 to 10 mm first causes the stage to overshoot the target position and then move positively through a small amount Fig E 5 Backlash correction The particular stage selection will usually have this type of backlash correction enabled as its default mode of operation but it can be overridden if the overshoot part of th...

Page 63: ...nd found to comply with the limits for a Class A digital device persuant to part 15 of the FCC rules These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instruction manual may cause h...

Page 64: ...lie bin logo see Fig 1 sold to a company or institute within the EC currently owned by a company or institute within the EC still complete not disassembled and not contaminated Fig 6 1 Crossed out wheelie bin symbol As the WEEE directive applies to self contained operational electrical and electronic products this end of life take back service does not refer to other products such as pure OEM prod...

Page 65: ...blic waste disposal site F 2 3 Ecological background It is well known that WEEE pollutes the environment by releasing toxic products during decomposition The aim of the European RoHS directive is to reduce the content of toxic substances in electronic products in the future The intent of the WEEE directive is to enforce the recycling of WEEE A controlled recycling of end of life products will ther...

Page 66: ...Appendix F 66 HA0142T Rev 12 February 2011 ...

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